CN102729902B - Embedded panoramic display device and method served for automobile safe driving - Google Patents
Embedded panoramic display device and method served for automobile safe driving Download PDFInfo
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- CN102729902B CN102729902B CN201210250201.8A CN201210250201A CN102729902B CN 102729902 B CN102729902 B CN 102729902B CN 201210250201 A CN201210250201 A CN 201210250201A CN 102729902 B CN102729902 B CN 102729902B
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Abstract
The invention provides an embedded panoramic display device and method served for automobile safe driving. The embedded panoramic display device comprises an ultra-wide field camera, a video collecting card, a panoramic display CPU (central processing unit), a memory and a display; analogue signals collected by the ultra-wide field camera are converted into digital signals through the video collecting card; the digital signals are transmitted to an image processing module consisting of the panoramic display CPU and the memory to carry out image correction; and a corrected image and an automobile top view are spliced in an image processing module, and are output on the display. With the adoption of the embedded panoramic display device and method, provided by the invention, scenes around an automobile body are directly displayed through a display screen; when an automobile normally drives, panoramic assistance is provided for a driver driving under a crowded road condition; and meanwhile, a multi-vision video switching function is provided, more abundant and clear images in a dead area can be provided for a condition that the automobile drives from a ring road to a main road in an inclined manner or special road conditions, and the effective scheme of solving the potential safety hazards because the vision range of the driver is limited can be provided.
Description
Technical field
The present invention relates to a kind of embedded panorama read out instrument and method, for vehicle at intensive road, high-risk crossing, block the special road conditions such as crossing and travel abundant and image is clearly provided.
Background technology
Along with improving constantly of expanding economy and people's living standard, China's private car quantity breaks through 7,000 ten thousand (data source is from http://www.chinadaily.com.cn) in July, 2011, this present situation causes originally just not broad urban highway to become more crowded, and along with the driver of annual newly-increased a large amount of driving experience deficiencies, more aggravate the potential safety hazard of running car, the thing followed is that traffic accident takes place frequently, and the scraping event between automobile, between automobile and other vehicle is of common occurrence.Current, the road conditions feedback tool of auxiliary driver's driving mainly concentrates on central authorities, left and right back mirror and parking assisting system (being mainly used in reversing auxiliary).
When automobile is during at intensive road driving, because left and right back mirror is difficult to observe the visual field within the scope of front body periphery 50cm, cause pilot's line of vision completely limited, be difficult to make accurate judgment in moment, be easy to swipe, knock into the back and collide; When automobile is by the oblique main stem of ring road or via high-risk crossing, while blocking the special road conditions such as crossing, driver is too little from back mirror range of observation, observing effect also can be subject to the impact of passenger inside the vehicle position, is difficult to fully understand the fact of main stem, is easy to occur burst accident.
In recent years, mainly contain in the research aspect car assisted safe driving video system:
Chinese patent " a kind of automobile panoramic round-looking system " (201020134403.2) discloses a kind of by being arranged on four cameras at vehicle body front, left side, right side and rear, adopt master controller by the video modification of four direction splicing, to realize the demonstration of panoramic picture and the handoff functionality of local video.But because display interface is only simply enumerating of four region video informations, driver need to judge the corresponding relation of each picture and vehicle body one side; The camera shooting visual angle that is arranged on arranged on left and right sides back mirror below is less, and the area of being especially obstructed at key road segment, high-risk crossing, the intensive visual isopter of building, cannot provide abundant blind area image clearly; Display interface cannot provide the distance of obstacle apart from vehicle body simultaneously, in the time there is potential safety hazard, cannot assist driver to judge in advance, avoids the generation of accident.
Chinese patent " panoramic automobile running live-action monitoring derive " (201120182503.7) discloses a kind of by four cameras are placed in to vehicle body top, towards front, rear, left and right four direction, the video information gathering is realized automobile birds-eye view and surrounding video information and is formed panorama display frame after processing by miniature disposal system.But because camera installation site is higher, cannot photograph the in-plant scene of vehicle body periphery, still there is the blind area of vision, and automobile birds-eye view could not be set up and contact with self vehicle, cannot provide in picture obstacle apart from the distance of vehicle body, this device is a set of independently equipment, is difficult for existing system integrated.
The paper " applied research of video-splicing technology in visual Reverse Sensor " that is published in " computer knowledge and technology " periodical has designed a kind of video-splicing algorithm and two-path video splicing is synthesized a road video by the hardware system based on PC/104, realize the application demand of panorama visibleization reversing, do not relate to the safety of travelling under the situation that automobile is obstructed at intensive road, key road segment, high-risk crossing, the intensive visual isopter of building auxiliary.
Summary of the invention
The technical matters solving
The problem existing for solving prior art, the present invention proposes a kind of embedded panorama read out instrument and method of serving vehicle security drive, object is driver assistance safe driving better, make it just can observe whole scenes of vehicle body surrounding by telltale, turn one's head and watch without left and right.Not only in the time of intensive road travel, provide panorama to show without dead angle, can also provide abundant and blind area image clearly by the oblique main stem of ring road or via high-risk crossing, while blocking the special road conditions such as crossing for automobile, the potential potential safety hazard of bringing because field range is limited for chaufeur provides actv. solution, and adopt the mode of custom parameter to realize safety precaution function, thereby the generation of minimizing accident effectively.Video storage and a key camera function are provided simultaneously, judge foundation is provided for the responsibility after accident.System adopts Embedded design plan and existing traffic navigation, parking assisting system etc. seamless integrated, for chaufeur is safer and drive and provide support more easily.
Technical scheme
Technical scheme of the present invention is:
Described a kind of embedded panorama read out instrument of serving vehicle security drive, is characterized in that: comprise that ultra wide-angle imaging head, video frequency collection card, panorama show CPU, memory device and telltale; Described ultra wide-angle imaging head comprises the first camera that is arranged on vehicle body dead ahead, be arranged on the second camera of vehicle body left-hand mirror below, be arranged on the 3rd camera of the right back visor of vehicle body below, be arranged on the 4th camera in vehicle body dead aft, be arranged on the 5th camera of vehicle body left headlamp top, be arranged on the 6th camera of vehicle body right headlamp top; The shooting angle of described ultra wide-angle imaging head reaches 180 °; First to fourth camera is taken direction vertically downward, and the 5th, the 6th camera is taken direction respectively towards outside, vehicle body left and right;
The analog signal that the collection of ultra wide-angle imaging head comes is transformed into digital signal by video frequency collection card, digital signal is imported into by panorama and is shown that the image processing module that CPU, memory device form carries out image correction process, image after correction splices processing together with automobile birds-eye view in image processing module, and according to driver's instruction, driver's required image is outputed on telltale.
Described a kind of embedded panorama read out instrument of serving vehicle security drive, is characterized in that: described ultra wide-angle imaging head all adopts infrared camera.
Described a kind of embedded panorama read out instrument of serving vehicle security drive, is characterized in that: the video information in memory device real-time storage vehicle traveling process before N minute.
Described a kind of embedded panorama read out instrument of serving vehicle security drive, is characterized in that: image processing module control telltale shows the magnified image of camera according to driver's instruction.
Described a kind of embedded panorama display method of serving vehicle security drive, is characterized in that: comprise the following steps:
Step 1: ultra wide-angle imaging head gathers image analoging signal, and analog-signal transitions is become to digital signal;
Step 2: the correct image that ultra wide-angle imaging head is taken, eliminate the image fault being caused by wide-angle imaging, obtain the image after proofreading and correct; Carry out cutting according to the vehicle body surrounding safety distance of setting to the image after proofreading and correct, obtaining long is M
1, wide is H
1vehicle body left and right rectangular image, and long be M
2, wide is H
2vehicle body before and after rectangular image; Wherein H
1for body side is to safety distance, H
2for vehicle body front and back are to safety distance, M
1be not less than bodywork length L, and be not more than L+2H
2, M
2be not less than body width W, and be not more than W+2H
1;
Step 3: the overlapping region between front image, left image, right image and rear image after the cutting that removal step 2 obtains:
Step 3.1: set up panoramic picture system of axes, panoramic picture system of axes is taking vehicle body center as the origin of coordinates, and taking vehicle body dead ahead direction as Y-axis positive dirction, taking the right-hand direction of vehicle body as X-axis positive dirction, wherein vehicle body birds-eye view is positioned at panoramic view central authorities; Set up respectively front image coordinate system, left image coordinate system, right image coordinate system, rear image coordinate system, each image coordinate system is taking picture centre separately as the origin of coordinates, each image coordinate system X-axis is parallel to panoramic picture system of axes X-axis, and each image coordinate system Y-axis is parallel to panoramic picture system of axes Y-axis; Wherein front image coordinate system Y-axis, rear image coordinate system Y-axis overlap with panoramic picture system of axes Y-axis, and the distance of front image coordinate system X-axis and rear image coordinate system X-axis and panoramic picture system of axes X-axis is (L+H
2)/2, the distance of left image coordinate system Y-axis and right image coordinate system Y-axis and panoramic picture system of axes Y-axis is (W+H
1)/2, left image coordinate system X-axis overlaps with right image coordinate system X-axis, and with the distance of panoramic picture system of axes X-axis be H
3, H
3for vehicle body back mirror and vehicle body center are in the distance of Y direction;
Step 3.2: Si Ge summit, the overlapping region R of image and left image before determining
1, R
2, R
3and R
4coordinate in panoramic picture system of axes, according to the relation of panoramic picture system of axes in step 3.1 and front image coordinate system and left image coordinate system, obtains R
1, R
2, R
3and R
44 coordinates in front image coordinate system and left image coordinate system, are chosen in front image or left image R
1, R
2, R
3and R
4remove the overlapping region of 4 formations;
Step 3.3: the overlapping region of front image and right image, rear image and right image, rear image and left image is removed according to the method in step 3.2;
Step 4: will through step 3 front image after treatment, left image, right image, after image and the splicing of automobile birds-eye view, obtain panoramic picture.
Beneficial effect
Compared with prior art, the invention has the advantages that: can intuitively the scene of vehicle body surrounding be displayed by read-out, and adopt the mode of custom parameter to realize safety precaution function, in the time of automobile normal running, can travel and provide panorama auxiliary in crowded road conditions for driver, guiding driver is made correct decision-making, in the time parking, and can for driver, to provide panorama to park auxiliary; Simultaneously, the video switch function of various visual angles is provided, for automobile by the oblique main stem of ring road or via high-risk crossing, block the special road conditions such as crossing abundanter and blind area image be clearly provided, the potential potential safety hazard of bringing because field range is limited for driver provides actv. solution, greatly improve the safety of running car, effectively reduce scraping, collision and potential traffic safety hidden danger between automobile.The present invention adopts embedded design pattern, can be seamless integrated with existing traffic navigation, parking assisting system etc., effectively reduce cost.
Brief description of the drawings
Fig. 1 is system assumption diagram of the present invention;
Fig. 2 is hardware configuration of the present invention;
Fig. 3 is that the integrated and panorama of many videos of the present invention shows schematic diagram;
Fig. 4 is that multi-angle video of the present invention switches schematic diagram;
Fig. 5 is video storage diagram of circuit of the present invention;
Fig. 6 is the design diagram that the present invention is based on embedded theory.
Wherein: 1, the first camera, 2, second camera, 3, the 3rd camera, 4, the 4th camera, 5, the 5th camera, 6, the 6th camera, 7, Liquid Crystal Display, 8, panorama shows CPU, 9, memory device, 10, video frequency collection card.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described:
The present embodiment has designed a kind of panorama display system of serving vehicle security drive, object is to provide abundant and blind area image clearly for driver, in the time of special road conditions driving, provide better safety auxiliary support, reduce to greatest extent potential potential safety hazard.As accompanying drawing 1, functional module concrete in the present embodiment comprises: system hardware configuration module, the panorama display module based on many videos, various visual angles handover module, driving process video acquisition and the memory module towards special road conditions, the system module based on embedded theory.
The embedded panorama read out instrument of serving vehicle security drive in the present embodiment, comprises that ultra wide-angle imaging head, video frequency collection card, panorama show CPU, memory device and Liquid Crystal Display.
The present invention need to install six wide-angle cameras in vehicle body surrounding, as shown in Figure 2 A, respectively: the first camera that is arranged on vehicle body dead ahead, apart from ground 60cm, be arranged on the second camera of vehicle body left-hand mirror below, apart from ground 100cm, be arranged on the 3rd camera of the right back visor of vehicle body below, apart from ground 100cm, be arranged on the 4th camera in vehicle body dead aft, apart from ground 60cm (when integrated with parking assisting system, this camera can omit, adopt the camera in parking assisting system), be arranged on the 5th camera of vehicle body left headlamp top, apart from ground 80cm, be arranged on the 6th camera of vehicle body right headlamp top, apart from ground 80cm.The shooting angle of all ultra wide-angle imaging heads reaches 180 °, as shown in Figure 2 B, first to fourth camera is taken direction vertically downward, the main vehicle body close shot around of taking, because shooting angle reaches 180 °, can cover the All Ranges of vehicle body periphery completely, accomplish without dead angle, non-blind area, for chaufeur provides panorama auxiliary in the time that crowded road conditions are travelled.Five, the 6th camera is taken direction respectively towards outside, vehicle body left and right, main scene of taking a distant place, vehicle right and left both sides, when automobile is by the oblique main stem of ring road or via high-risk crossing, while blocking the special road conditions such as crossing, for driver provides abundanter and blind area image clearly.Described camera all adopts infrared camera, is convenient to the shooting of night or rainy weather.
The present embodiment adopts image rectification technology and video-splicing technology to process to the video information of ultra wide-angle imaging head collection:
Step 1: the analog signal that the collection of ultra wide-angle imaging head is come is transformed into digital signal by video frequency collection card;
Step 2: digital signal is imported into by panorama and shown that the image processing module that CPU, memory device form carries out image correction process, this is because the video information that camera collection comes has geometric distortion, before carrying out Image Mosaics, first to proofread and correct, eliminate the pattern distortion being caused by wide-angle camera.What the method for correcting image in the present embodiment adopted is disclosed method in the document " research of camera distortion correction " in the 10th national Annual Conference collection of thesis of CAAI, document author unit is Beijing University of Technology's electronic information and dominant project institute, this calibrating method is by setting up image fault model, find out the corresponding relation between coordinates of original image coordinates and fault image coordinate, image is carried out to coordinate transform, eliminate the distortion being caused by wide-angle camera, thereby obtain the image after correction.
Obtain, after the image after proofreading and correct, correcting image being carried out to cutting according to the vehicle body surrounding safety distance of setting, obtaining long is M
1, wide is H
1vehicle body left and right rectangular image, and long be M
2, wide is H
2vehicle body before and after rectangular image; Wherein H
1for body side is to safety distance, H
2for vehicle body front and back are to safety distance, M
1be not less than bodywork length L, and be not more than L+2H
2, M
2be not less than body width W, and be not more than W+2H
1.As the A in accompanying drawing 3, B, shown in C.
Step 3: the overlapping region between front image, left image, right image and rear image after the cutting that removal step 2 obtains:
Step 3.1: set up panoramic picture system of axes, panoramic picture system of axes is taking vehicle body center as the origin of coordinates, and taking vehicle body dead ahead direction as Y-axis positive dirction, taking the right-hand direction of vehicle body as X-axis positive dirction, wherein vehicle body birds-eye view is positioned at panoramic view central authorities; Set up respectively front image coordinate system, left image coordinate system, right image coordinate system, rear image coordinate system, each image coordinate system is taking picture centre separately as the origin of coordinates, each image coordinate system X-axis is parallel to panoramic picture system of axes X-axis, and each image coordinate system Y-axis is parallel to panoramic picture system of axes Y-axis; Wherein front image coordinate system Y-axis, rear image coordinate system Y-axis overlap with panoramic picture system of axes Y-axis, and the distance of front image coordinate system X-axis and rear image coordinate system X-axis and panoramic picture system of axes X-axis is (L+H
2)/2, the distance of left image coordinate system Y-axis and right image coordinate system Y-axis and panoramic picture system of axes Y-axis is (W+H
1)/2, left image coordinate system X-axis overlaps with right image coordinate system X-axis, and with the distance of panoramic picture system of axes X-axis be H
3, H
3for vehicle body back mirror and vehicle body center are in the distance of Y direction;
Step 3.2: Si Ge summit, the overlapping region R of image and left image before determining
1, R
2, R
3and R
4coordinate in panoramic picture system of axes, according to the relation of panoramic picture system of axes in step 3.1 and front image coordinate system and left image coordinate system, obtains R
1, R
2, R
3and R
44 coordinates in front image coordinate system and left image coordinate system, are chosen in front image or left image R
1, R
2, R
3and R
4remove the overlapping region of 4 formations;
Step 3.3: the overlapping region of front image and right image, rear image and right image, rear image and left image is removed according to the correlation method in step 3.2;
Step 4: will through step 3 front image after treatment, left image, right image, after image and the splicing of automobile birds-eye view, obtain panoramic picture, and according to driver's instruction, driver's required image outputed on telltale.
Automobile is in the time normally travelling, and the picture in display interface is the panoramic picture that first to fourth camera is taken, and only gathers the vehicle body scene of a meter around, eliminates and blocks the blind area forming because of vehicle body and passenger inside the vehicle.When automobile is via blocking crossing or high-risk crossing, when sight line is subject to building or trees obstruction, the the 5th, the 6th camera in vehicle body front provides broader blind area scene for driver, because the 5th, the 6th camera is arranged on the front of vehicle body, shooting angle biased outward, the video information gathering is distant view, can assist driver turning round or the vehicle of seeing main stem rear more early during by the oblique main stem of ring road, for driver provides the more clear and abundant visual field, improve the safety of driving.
In the present embodiment, adopt can self-defined setting display interface, as shown in Figure 3 D, the central authorities of display interface are automobile birds-eye view, in the data bank of system, can store the basic specification of various vehicles, it is long that user can obtain corresponding vehicle body according to the model of self driving from data bank, the parameter informations such as wide and profile, birds-eye view surrounding is the real-time video information from all directions, at automobile in the time normally travelling, picture in display interface is that first to fourth camera is taken and according to above-mentioned joining method and the central automobile birds-eye view formation panoramic picture that is stitched together, eliminate and block the blind area forming because of vehicle body and passenger inside the vehicle.When automobile is via blocking crossing or high-risk crossing, when sight line is subject to building or trees obstruction, the the 5th, the 6th camera in vehicle body front provides broader blind area scene for driver, because the 5th, the 6th camera is arranged on the front of vehicle body, shooting angle biased outward, the video information gathering is distant view, can assist driver turning round or the vehicle of seeing main stem rear more early during by the oblique main stem of ring road, for driver provides the more clear and abundant visual field, improve the safety of driving.
As shown in Figure 3 D, automobile birds-eye view ambient parameters identify two safe-guard lines, for identifying the safety distance (the present embodiment set initial value be 20cm and 50cm) of vehicle body surrounding, auxiliary driver's safe driving, driver can be according to the distance of self driving skill level and arrange safe-guard line, in the time that a certain region has obstacle to enter safe-guard line, user can judge whether to break the barriers by the prompting of display frame, more be conducive to driver and make correct decision-making, effectively avoid the generation of scraping and collision.
In the present embodiment, telltale adopts touch liquid crystal display, facilitates user to operate.As shown in Figure 4, the present embodiment offers user and has the multi-angle video handoff functionality towards special road conditions, in the time that chaufeur is difficult to accurately judge to local message, provides more abundant and local video information clearly.The operational module of video switch comprises front, rear, left and right four direction touch key-press, and respectively corresponding forward and backward and left and right distant view camera, can be amplified or be displayed in full screen the video information of this side by the button that touches a direction.As shown in part on Fig. 4, when automobile is via blocking crossing or high-risk crossing, when sight line is subject to building or trees obstruction, changeable front video is to obtain the blind area image of vehicle body front side and the left and right sides, front, for driver provides the more clear and abundant visual field; As shown in the part of Fig. 4 left and right, when automobile is during by the oblique main stem of ring road, can the square video in a Pre-handoff left side (right side), for driver provides the more video of horn of plenty of left (right side) side, make driver can see the vehicle in a distant place, can understand again the blind area scene of vehicle body one side, further promote the safety of driving; As shown in part under Fig. 4, obtain abundanter back visibibility information time, can switch to rear video.The various visual angles handoff functionality providing by native system, can be driver the abundanter visual field is provided when via dangerous road conditions, effectively avoids the scraping and the collision that cause because of driver's vision dead zone, for safe driving provides safeguard.
Referring to Fig. 5, the invention provides video storage and a key camera function, the driving process of automobile is carried out to record, conveniently to call and check later, the judgement for responsibility in the time that automobile has an accident provides foundation.As shown in the figure, for automobile running record video storage diagram of circuit, in the time that panorama display system is opened, first the buffer area in memory device is carried out to initialization, meanwhile, camera starts to gather video information, and video information is proofreaied and correct and spliced processing, video information after treatment is kept in buffer area, in the time that the video length in buffer area reaches two minutes, this section of video information in buffer area deposited in memory device, and covered the preceding paragraph video information, user can check the driving recording that camera is taken by telltale.In the time of automobile generation safety misadventure, touch stop shooting button, system deposits the video information in buffer area in memory space, retains the preceding paragraph video information simultaneously, so as reservation accident occur time image, for the judgement of responsibility provides foundation.If need to take pictures time, touch the button of taking pictures, the camera of six direction is taken pictures to outside scene simultaneously, and photographic intelligence is directly stored in memory device, can be called and be checked by telltale.
Referring to Fig. 6, what the present invention adopted is a kind of Embedded design concept, although the mature technologys such as existing vehicle mounted guidance, parking assisting system have been used widely, still cannot solve vehicle body dead angle and blind area around, exists potential safety hazard.In order to expand the function of existing system and with of the present invention seamless integrated, to have adopted a kind of Embedded design plan, effectively reduce costs.By giving existing ancillary system, the hardware devices such as multiple cameras, video frequency collection card, panorama demonstration CPU and memory device are installed, and adopt embedded design mode and development mode to realize the self-defined setting of parametrization, the integrated demonstration of many videos, multi-angle video switching, video storage and the functional module such as a key is taken pictures, embedded type GUI (Graphical User Interface) demonstration, finally with a kind of mode of plug and play be linked into existing navigation, the system such as auxiliary of parking, can under relatively low cost, realize the seamless integrated of the present invention and existing system.
Claims (1)
1. an embedded panorama display method of serving vehicle security drive, is characterized in that: comprise the following steps:
Step 1: ultra wide-angle imaging head gathers image analoging signal, and analog-signal transitions is become to digital signal;
Step 2: the correct image that ultra wide-angle imaging head is taken, eliminate the image fault being caused by wide-angle imaging, obtain the image after proofreading and correct; Carry out cutting according to the vehicle body surrounding safety distance of setting to the image after proofreading and correct, obtaining long is M
1, wide is H
1vehicle body left and right rectangular image, and long be M
2, wide is H
2vehicle body before and after rectangular image; Wherein H
1for body side is to safety distance, H
2for vehicle body front and back are to safety distance, M
1be not less than bodywork length L, and be not more than L+2H
2, M
2be not less than body width W, and be not more than W+2H
1;
Step 3: the overlapping region between front image, left image, right image and rear image after the cutting that removal step 2 obtains:
Step 3.1: set up panoramic picture system of axes, panoramic picture system of axes is taking vehicle body center as the origin of coordinates, and taking vehicle body dead ahead direction as Y-axis positive dirction, taking the right-hand direction of vehicle body as X-axis positive dirction, wherein vehicle body birds-eye view is positioned at panoramic view central authorities; Set up respectively front image coordinate system, left image coordinate system, right image coordinate system, rear image coordinate system, each image coordinate system is taking picture centre separately as the origin of coordinates, each image coordinate system X-axis is parallel to panoramic picture system of axes X-axis, and each image coordinate system Y-axis is parallel to panoramic picture system of axes Y-axis; Wherein front image coordinate system Y-axis, rear image coordinate system Y-axis overlap with panoramic picture system of axes Y-axis, and the distance of front image coordinate system X-axis and rear image coordinate system X-axis and panoramic picture system of axes X-axis is (L+H
2)/2, the distance of left image coordinate system Y-axis and right image coordinate system Y-axis and panoramic picture system of axes Y-axis is (W+H
1)/2, left image coordinate system X-axis overlaps with right image coordinate system X-axis, and with the distance of panoramic picture system of axes X-axis be H
3, H
3for vehicle body back mirror and vehicle body center are in the distance of Y direction;
Step 3.2: Si Ge summit, the overlapping region R of image and left image before determining
1, R
2, R
3and R
4coordinate in panoramic picture system of axes, according to the relation of panoramic picture system of axes in step 3.1 and front image coordinate system and left image coordinate system, obtains R
1, R
2, R
3and R
44 coordinates in front image coordinate system and left image coordinate system, are chosen in front image or left image R
1, R
2, R
3and R
4remove the overlapping region of 4 formations;
Step 3.3: the overlapping region of front image and right image, rear image and right image, rear image and left image is removed according to the method in step 3.2;
Step 4: will through step 3 front image after treatment, left image, right image, after image and the splicing of automobile birds-eye view, obtain panoramic picture.
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